/*********************************************************************
 * Software License Agreement (BSD License)
 *  Copyright (c) 2014, Konstantinos Chatzilygeroudis
 *  Copyright (c) 2016, CRI Lab at Nanyang Technological University
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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#include "../include/robotiq_gazebo/disable_link_plugin.h"

namespace gazebo
{

DisableLinkPlugin::DisableLinkPlugin()
{
  kill_sim = false;
  link_.reset();
}

DisableLinkPlugin::~DisableLinkPlugin()
{
  kill_sim = true;
}

void DisableLinkPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )
{
  model_ = _parent;
  world_ = model_->GetWorld();

  // Check for link element
  if (!_sdf->HasElement("link"))
  {
    ROS_ERROR("No link element present. DisableLinkPlugin could not be loaded.");
    return;
  }
  
  link_name_ = _sdf->GetElement("link")->Get<std::string>();

  // Get pointers to joints
  link_ = model_->GetLink(link_name_);
  if(link_)
    link_->SetEnabled(false);
  else
    ROS_WARN("Link %s not found!", link_name_.c_str());
}

GZ_REGISTER_MODEL_PLUGIN(DisableLinkPlugin);

}
